#include <BipedalLocomotion/ContinuousDynamicalSystem/CentroidalDynamics.h>

template<>

BipedalLocomotion::ContinuousDynamicalSystem::internal::traits<CentroidalDynamics> struct

Public types

using Contacts = std::map<std::string, BipedalLocomotion::Contacts::DiscreteGeometryContact>

using ExternalWrench = std::optional<BipedalLocomotion::Math::Wrenchd>

using State = GenericContainer::named_tuple<BLF_NAMED_PARAM(com_pos, Eigen::Vector3d), BLF_NAMED_PARAM(com_vel, Eigen::Vector3d), BLF_NAMED_PARAM(angular_momentum, Eigen::Vector3d)>

using StateDerivative = GenericContainer::named_tuple<BLF_NAMED_PARAM(com_vel, Eigen::Vector3d), BLF_NAMED_PARAM(com_acc, Eigen::Vector3d), BLF_NAMED_PARAM(angular_momentum_rate, Eigen::Vector3d)>

using Input = GenericContainer::named_tuple<BLF_NAMED_PARAM(contacts, Contacts), BLF_NAMED_PARAM(external_wrench, ExternalWrench)>

using DynamicalSystem = CentroidalDynamics